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http://dx.doi.org/10.5302/J.ICROS.2008.14.4.392

Dynamic Path Planning for Autonomous Mobile Robots  

Yoon, Hee-Sang (충북대학교 제어계측공학과)
You, Jin-Oh ((주)에버테크노)
Park, Tae-Hyoung (충북대학교 제어계측공학과)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.14, no.4, 2008 , pp. 392-398 More about this Journal
Abstract
We propose a new path planning method for autonomous mobile robots. To maximize the utility of mobile robots, the collision-free shortest path should be generated by on-line computation. In this paper, we develop an effective and practical method to generate a good solution by lower computation time. The initial path is obtained from skeleton graph by Dijkstra's algorithm. Then the path is improved by changing the graph and path dynamically. We apply the dynamic programming algorithm into the stage of improvement. Simulation results are presented to verify the performance of the proposed method.
Keywords
robot path planning; autonomous mobile robots; dynamic programming; path optimization; local search;
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Times Cited By KSCI : 2  (Citation Analysis)
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